Robotic intraoperative radiation therapy
AssigneeSensus Healthcare, Inc.
InventorKalman Fishman
Life of this patent
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Abstract
Intraoperative radiation therapy involves a treatment head disposed on a distal end of a robotic arm. An X-ray component included as part of the treatment head generates therapeutic radiation in the X-ray wavelength range. At least one patient motion sensor detects a breathing movement of a patient body. A control system dynamically controls a position of the treatment head by causing a position variation in at least one of the movable joints comprising the robotic arm. This movement is managed so that a relative motion as between the treatment head and a tumor bed internal of the patient is minimized.
Claims14
A robotic system for intraoperative radiation therapy, comprising:
- a robotic arm comprised of a plurality of movable joints and secured at a first end to a base;
- a treatment head disposed on a second end of the robotic arm distal from the base;
- the treatment head comprising at least one X-ray component configured to facilitate generation of therapeutic radiation in the X-ray wavelength range;+
- a plurality of torque sensors respectively associated with the plurality of movable joints and configured to sense forces exerted on the plurality of movable joints through the treatment head as a result of movement of a patient body;
- and
- a control system comprised of an electronic circuit, the control system responsive to patient motion data from the plurality of torque sensors and configured to facilitate dynamic position control of the treatment head by selectively varying a position of at least one of the movable joints comprising the robotic arm responsive to the patient motion data;
- wherein the dynamic position control is configured to minimize a relative motion as between the treatment head and all surfaces of a tumor bed defining a cavity internal of the patient while using the treatment head to perform a radiation treatment, whereby variations in distance as between the treatment head and all surfaces of the tumor bed are minimized during a respiratory action of the patient body.
A method for intraoperative radiation therapy, comprising:
- securing a treatment head on a mounting end of the robotic arm distal from a robotic arm base;
- including as part of the treatment head at least one X-ray component configured to facilitate generation of therapeutic radiation in the X-ray wavelength range;
- detecting movement of a patient body by coupling forces exerted on the treatment head as a result of the movement to a plurality of torque sensors which are respectively associated with a plurality of movable joints of the robotic arm;
- and
- responsive to patient motion data received from the plurality of torque sensors, dynamically controlling a position of the treatment head with a control system comprising an electronic processor by causing a position variation in at least one of the movable joints comprising the robotic arm, whereby variations in distance as between the treatment head and all surfaces of a cavity defined by the tumor bed are minimized during a respiratory action of the patient body.
Dependencies are inferred from the claim text.